Feature available on request.
Function 82 allows changing the speed of an axis in motion: the axis arrives at the final level with the new speed set.
SYNTAX
VQ<i> = FUN 82 <Num Axis> <Speed> <Final level >
i Index of the VQ that will contain the return value of the function VQ<i> = 0 All OK
= 1 Wrong axis number definition.
= -1 Another speed change already in progress Num Axis: Number of the axis [ 1, 2 … ]
Speed: New speed [%]
Final level: Final level [mm] of the speed change
Example 1: Single change of speed
Movement of axis 1 to level 1000 mm at speed 60%;
at level 500 mm the speed of the axis becomes 30%.
: vel ax 1 = 60 % // Set speed 60%
Example 1: Multiple speed change
Movement of axis 1 to level 1000 mm at speed 60%;
at level 500 mm the speed of the axis becomes 30%.
At level 700 mm the speed of the axis becomes 90%
: vel ax 1 = 60 % // Set speed 60%
ax 1 to 1000 // Axis1 to level 1000 mm
skip wait ax 1 // continue without waiting for axis at level : vq0 = fun 82 1 30 500 // change speed: vel = 30 % a quota 500 mm
:Loop1
vq2 = pos ax 1 // Acquisition level axis 1 : if vq2 > 500 goto Step2 // check if level 500 exceeded : goto Loop1
:Step2
vq0 = fun 82 1 90 700 // change speed: vel = 90 % a quota 700 mm :L1 if ax 1 goto FINE // Loop wait for axis at level
: goto L1 :FINE
end
FUN 104 AUTOMATIC RECOVERY QUOTA
Feature available on request.
The FUN104 is used in packaging systems that use films with the reference mark.
A photocell detects the notch and acquires the position of the Master; this position is then compared with a reference position and then calculated the position error.
The position is detected dall'interrupt reported within the range [0 - 360].
The correction, by calling the function recovery position, occurs when the master axis is "on cam" correction.
The correction is accomplished by modifying the actual axis.
We define the following functions:
- Detecting the position of Master of Vq to interrupt
(FUN 71)
Activation of a digital cam which acts on VB to define the area permitted for the correction of the position of the FILM
(FUN 61 and 62) SYNOPSIS
Vq <i> = FUN 104 <Num Asse> <Vq_Par_Idx>
i the VQ index that will contain 'the return value of the function Num Asse Number of the axis on which the recovery occurs
Vq_Par_Idx Index of the first VQ that contains parameters.
Indx +0 1^ Vq ^ Interrupt index (from 1)
Indx +8 9^ Vq index pos. recovery calculated [mm]
Vq index error [degrees]
Vq index return code InitOneRecPos Indx +9 Vq index number of tick-blow.
RETURN VALUE No return value.
FUN 106 AUTOMATIC RECOVERY QUOTA
Feature available on request.
The FUN106 is used in packaging systems that use films with the reference mark.
A photocell detects the notch and acquires the position of the Master; this position is then compared with a reference position and then calculated the position error.
The position is detected dall'interrupt reported within the range set in the 10^ of parameters The correction, by calling the function recovery position, occurs when the master axis is "on cam" correction.
The correction is accomplished by modifying the actual axis.
We define the following functions:
- Detecting the position of Master of Vq to interrupt
(FUN 71)
Activation of a digital cam which acts on VB to define the area permitted for the correction of the position of the FILM
(FUN 61 and 62) SYNOPSIS
Vq <i> = FUN 106 <Num Asse> <Vq_Par_Idx>
i the VQ index that will contain 'the return value of the function Num Asse Number of the axis on which the recovery occurs
Vq_Par_Idx Index of the first VQ that contains parameters.
Indx +0 1^ Vq ^ Interrupt index (from 1)
Indx +1 2 ^ Vq share index of the acquis. from irq [degrees]
Indx +2 3^ Vq index of pos setpoint. [degrees]
indx +3 4 ^q Vq Pitch [mm]
Indx +4 5 ^ Vq index SPEED. recovery [mm / s]
Indx +5 6^ Vq maximum correction index [mm]
Indx +6 7 ^ Vb index which disables the recovery Indx +7 8 ^ Vb index of "axis cam"
Indx +8 9^ Vq index pos. recovery calculated [mm]
Vq index error [degrees]
� NOTA
The FUN106 differs from FUN104 for the additional parameter INDX +10.FUN 107 AUTOMATIC RECOVERY QUOTA
Feature available on request.
The FUN107 is used in packaging systems that use films with the reference mark.
A photocell detects the notch and acquires the position of the Master; this position is then compared with a reference position and then calculated the position error.
The correction, by calling the function recovery position, occurs when the master axis is "on cam" correction.
The correction is accomplished by modifying the actual axis.
From 4:44 fw version of 11.07.2003 the 'Flg_Inv_Corr parameter was introduced which allows to reverse the direction of correction.
We define the following functions:
- Detecting the position of Master of Vq to interrupt
(FUN 71)
Activation of a digital cam which acts on VB to define the area permitted for the correction of the position of the FILM
(FUN 61 and 62) SYNOPSIS
Vq <i> = FUN 107 <Num Asse> <Vq_Par_Idx> <Flg_Inv_Corr>
i the VQ index that will contain 'the return value of the function Num Asse Number of the axis on which the recovery occurs
Flg_Inv_Corr Flag of reversing the direction of correction:
0 = normal correction 1 = inverted correction
Vq_Par_Idx Index of the first VQ that contains parameters.
Since fw version 5.05 (02/18/04) the fractional part has the meaning of the number of active parameters. If the decimal part iszero, are taken into account 10 parameters.
Indx +0 1^ Vq ^ Interrupt index (from 1)
Indx +8 9^ Vq index pos. recovery calculated [mm]
Vq index error [degrees]
Vq index return code InitOneRecPos Indx +9 Vq index number of tick-blow.
Indx+10 11^ Vq index Vq reference range of measured quota
Indx +11 12 ^ Vq Mode 'correction: (Ver.5.05)
0 = always corrects between -180 and +180 degrees
= -1 Corrects errors only positive (acceleration)
= -2 Corrects errors only negative (deceleration)
> = 0 always corrects -360 + Val and Val
Indx +12 13 ^ Vq speed 'correction: (Ver.5.06)
0 = always with the correct speed. recovery set 1 = correct proportion with the speed. snapshot RETURN VALUE
No return value.
VALUES OF RETURN: THE DEBUGGER VQ (return code InitOneRecPos) 0 Operation completed successfully.
1. Axis number not lawful.
2. Recovery already 'active (new recovery run) 3. The axis is not 'in hot pursuit
4. Recovery [imp]> 0x7fffff 5. Speed 'recovery <= 0
6. Recovery = 0 (pos = 0) (to recover it already 'being canceled) 7. Absolute recovery in [imp] = 0.
FUN 110 ENABLE TRACKING WITH PROFILE TABELLARE SINE
Feature available on request.
The function allows to determine a chase with a linear profile for the section in which the master and slave move at the same speed and with a sinusoidal profile for the section in which the slave must accelerate to reach the master to the next point of attachment (in which case the slave have to travel more road of the master), or for the section in which the slave should decelerate (in which case displacement slave minor displacement master). Example for the application of this tracking may be the packaging machine in which a master axis carries out a product that is wound into a film and then the latter is cut and welded by a second slave.
Normally the second slave will have to make a full turn to go and cut / weld the film to the product length.
SYNOPSIS
Vq = FUN 110 <No. Master> <No. Slave> <Idx Vq Parametri>
Parameters:
Vq [Idx +0] = STEP [mm] Is the length of the product.
Vq [Idx +1] = There is NO more used.
Vq [Idx +2] = PACKAGE [mm] Is the distance between two packages Vq [Idx +3] = Diameter [mm] Is the length of the shaft diameter
shear (slave) in case there is only a knife or cutting point.
Vq [Idx +4] = INI_RALL [degrees] with respect to the rotation value in degrees of slave from which the stroke begins at linear speeds.
Vq [Idx +5] = END_RALL [degrees] with respect to the rotation value in degrees of Slave where the line ends at linear speeds.
Vq [Idx +6] PASSO_MASTER = Length product or movement from the master used to calculate the tracking table and for managing
access to the table during the movement.
Vq [Idx +7] = FASE_MASTER phase shift up to the master sync = the cutoff point between the master and slave.
Vq [Idx +8] = FASE_SLAVE phase shift to be given to the slave in the case where no you want that the zero of the slave corresponds with the point of cutting.
The function returns 0 if the initialization is successful.
To enable this tracking must, in addition to correctly program the function 110, you must also enable the tracking (vb360 vb367 ..), 2 = mode of writing custom tracking in VN mode tracking (vn324 vn331 ..).
The disabling of tracking can be achieved by putting 0 in the vb tracking described above.
NEW VERSION
The function of the beginning of 2001 has changed that for reasons of compatibility with the previous version are activated by inserting a negative value in the parameter Vq Parameters Index (see examples).
The parameters defined in the first version of the function 110 are not changed, but adds, after the other, the following parameters:
Vq [Idx +9] = Ratio Master / Slave shear zone: Allows you to change the speeds between the master and slave in the area of linear tracking
Vq [Idx +10] = MIN_BD_SWAP. Starting point of banda useful for swapping the table to be activated using the function 111.
Vq [Idx +11] = MAX_BD_SWAP. End point of the useful band for the swap of the table can be activated through the function 111.
EXAMPLES:
Example 1:
Suppose you want to enable a chase between a shaft coupling (the Master) and a Taglia_Cuci (the Slave).
In our application will be the master and slave axis 1 will be the axis 2.
We want to package a product length of 180 and with a distance between the vanes on the axis of towing equal to 220, we want the cut point corresponds with the point of 0 and that of the slave axis overlock them is phase shifted by 100 mm with respect to the master .
Linear zone for cutting the want equal to 60 degrees with respect to 360 of the entire movement of the overlock around the zone of cut.
Our axis overlock has a diameter calculated from the tip of the knife at the center of rotation point and multiplying this value for 2 = 120mm
Without these assumptions we see how to set the parameters of the function.
We define as an index of the first parameter value vq 100 => the first containing the parameters vq = Vq100.
`Will result:
Vq100 = 220 (Step)
Vq101 = 0 (or any value because you do not use more).
Vq102 = 180 (Package)
Vq103 = 120 (diameter of the slave)
Vq104 = 330 (Start linearly with Vel Vel Master = Slave) Vq105 = 30 (End-linear)
Vq106 = 220 (Master Pass)
Example 2
Starting from the above we also define a swap for a banda
subsequent request to change the profile of tracking (see function 111), but the speeds of the master and slave must be equal in the cutting area.
Then we define as banda swap an outer zone to the cutting for example between 100 and 260 degrees and a ratio of master / slave = 1.
`Will result:
Vq109 = 1 (ratio Master / Slave) Vq110 = 100 (top banda Swap) Vq111 = 260 (End banda Swap)
In this case the function call will result `be:
Vq1 FUN = 110 1 -100
FUN 111 TRIGGER SWAP WITH TRACKING PROFILE TABLES SINE
Feature available on request.
This feature allows you to edit the data table with sinusoidal pursuit after it is activated and is in process of obtaining a change profiles speeds, the table of positions and relationships between the position of master and Slave (Phase Master and Slave Phase).
The actual exchange of data and profiles determined by the function swap takes place only at the instant when the slave axis enters its swap bandwidth determined by the two parameters, defined with the function 110 (new version parameter index negative) , minimum and maximum swap banda banda swap.
SYNOPSIS
Vq = FUN 110 <No. Master> <No. Slave> <Idx Vq Parametri>
Parameters:
Vq [Idx +0] = STEP [mm] Is the length of the product.
Vq [Idx +1] = There is NO more used.
Vq [Idx +2] = PACKAGE [mm] Is the distance between two packages Vq [Idx +3] = Diameter [mm] Is the length of the shaft diameter
shear (slave) in case there is only a knife or cutting point.
Vq [Idx +4] = INI_RALL [degrees] with respect to the rotation value in degrees of slave from which the stroke begins at linear speeds.
Vq [Idx +5] = END_RALL [degrees] with respect to the rotation value in degrees of Slave where the line ends at linear speeds.
Vq [Idx +6] PASSO_MASTER = Length product or movement from the master used to calculate the tracking table and for managing
access to the table during the movement.
Vq [Idx +7] = FASE_MASTER phase shift up to the master sync = the cutoff point between the master and slave.
Vq [Idx +8] = FASE_SLAVE phase shift to be given to the slave in the case where no you want that the zero of the slave corresponds with the point of cutting.
NB The parameters passed to the function (master axis number, number and index of the slave axis vq containing other parameters) must be the same as those passed to the function 110
FUN128 PALLET MANAGEMENT
This function is only available by request starting from Firmware version 5.18.
Function 128 allows managing a pallet.
SYNTAX
Vq<i> = FUN128 <OpCode> <PalletNum> <VqIndx> <VnIndx>
i Index of the VQ that will contain the return value of the function OpCode code of the operation to execute:
code operation
131 management initialization
132 calculate current position coordinates (automatic sequence) 133 calculate coordinates specified position
134 reset automatic sequence PalletNum Number of the pallet
� NOTA
The standard number of pallets that can be managed is 2.VqIndx index of the first VQ for the coordinates VnIndx> index of the first VN for the parameters
Figure 1
11 12 13 14 15
6 7 8 9 10
1 2 3 4 5
A B
D C
5 columns 3 rows
Operation 131 – PALLET MANAGEMENT INITIALIZATION Initializes pallet management.
It is necessary to specify the coordinates of points A, B, C and D and the number Rows and Columns on the pallet.
VqIndx index of the first VQ for the coordinates
VnIndx>index of the first VN for the parameters VN index parameter
VnIndx number of ROWS [1-1000]
VnIndx+1 number of COLUMNS [1-1000]
VnIndx+2 Operating Mode
� NOTA
Operating Mode must be set to 1; it is to be used for future enhancementsthe operation's result code returned by the function in VQ<i>:
Value Meaning
10001 Initialization correctly executed 10002 VN index parameters wrong
10003 pallet number wrong
10004 VQ index coordinates wrong 10005 number of rows wrong 10006 number of columns wrong VQ index coordinate
VqIndx XA
VqIndx+1 YA
VqIndx+2 XB
VqIndx+3 YB
VqIndx+4 XC
VqIndx+5 YC
VqIndx+6 XD
VqIndx+7 YD
Operation 132 – CALCULATE COORDINATES OF CURRENT POSITION
Returns the coordinates of the current position of the pallet specified in the VQs (automatic sequence); the current position will be incremented.
The pallet position index follows the order shown in Figure 1.
VqIndx index of the first VQ for the coordinates (X,Y) VnIndx not used – set to 0
The operation's result code returned by the function in VQ<i>:
Value Meaning [1 – N] position index returned 10002 VN index parameters wrong 10003 pallet number wrong
10004 VQ index coordinates wrong 10009 pallet not initialized
10012 pallet finished (last pallet position exceeded)
Operation 133 – CALCULATE COORDINATES OF SPECIFIED POSITION Returns the coordinates of the specified position.
VqIndx index of the first VQ for the coordinates (X,Y) VnIndx> index of the first VN for the parameters
VN index parameter
VnIndx number of ROWS of the requested position [1 - NR]
VnIndx+1 number of COLUMNS of the requested position [1 - NC]
The operation's result code returned by the function in VQ<i>:
Value Meaning
[1 – N] position index returned (N = num. Rows * num. Columns) 10002 VN index parameters wrong
10003 pallet number wrong
10004 VQ index coordinates wrong 10009 pallet not initialized
10010 row number wrong 10011 column number wrong
Operation 134 – RESET AUTOMATIC SEQUENCE
Function 134 brings a pallet's current position back to the initial position; this operation is used in conjunction with operation 132.
VqIndx not used – set to 0 VnIndx not used – set to 0
The operation's result code returned by the function in VQ<i>:
Value Meaning
10002 VN index parameters wrong 10003 pallet number wrong
10009 pallet not initialized
10021 reset executed
FUN 130 ACTIVATION TRACKING WITH TABELLARE SINE AND MANAGEMENT PACK HIGH PROFILE.
This function is only available by request
The function allows to determine a profile of a chase with speeds straight for the section in which the master and slave move at the same speeds, a sharp acceleration from the linear to exit quickly and decelerated abruptly to enter the cutting area the remaining movement is realized in a sine wave in order to cover the distance remaining to the slave to terminate the movement, the slave will be able to `slow down or decelerate.
SYNTAX
VQ = FUN 130 <Num. Master> <Num. Slave> <Idx VQ Parametri>
Parametri:
VQ [Idx +0] = STEP [mm] Is the length of the product.
VQ [Idx +1] = There is more used.
VQ [Idx +2] = PACKAGE [mm] Is the distance between two packages VQ [Idx +3] = Diameter [mm] Is the length of the shaft diameter
shear (slave) in case there is only a knife or cutting point.
VQ [Idx +4] = INI_RALL [degrees] with respect to the rotation value in degrees of slave from which the stroke begins at linear speeds.
VQ [Idx +5] = END_RALL [degrees] with respect to the rotation value in degrees of Slave where the line ends at linear speeds.
VQ [Idx +6] = PASSO_MASTER Length product or movement from the master used to calculate the tracking table and for managing
access to the table during the movement.
VQ [Idx +7] = FASE_MASTER phase shift to be given to the master to synchronize the point Cutting between the master and slave.
VQ [Idx +8] = FASE_SLAVE phase shift to be given to the slave in the case where we do not want the zero of the slave corresponds with the point of cutting.
VQ [Idx +9] = Ratio Master / Slave shear zone: Allows you to change
the speeds between the master and slave in the area of linear tracking VQ [Idx +10] = MIN_BD_SWAP. Starting point of banda useful for swap
of the table can be activated through the function 131.
VQ [Idx +11] = MAX_BD_SWAP. End point of the banda useful for swap of the table can be activated through the function 131.
VQ [Idx = +12 DELTA_OUT_SL. Distance traveled by the slave during the exit from the cutting area.
VQ [Idx = +13 DELTA_IN_SL. Distance traveled by the slave during entry
in the shear zone (currently = space for future developments in output).
VQ [Idx +14] = DELTA_OUT_MS. Distance traveled by the master while the output from the cutting area.
VQ [Idx +15] = DELTA_IN_MS. Distance traveled by the master while the input in the shear zone (currently = space for future developments in output).
The function returns 0 if the initialization is successful.
To enable this tracking must function properly in addition to program 130 also enable the tracking (vb360 vb367 ..), 2 = write custom order tracking in the tracking mode of VN (vn324 vn331 ..).
The disabling of tracking can be achieved by putting 0 in the vb tracking described above.
EXAMPLES:
Example 1:
Suppose you want to enable a chase between a shaft coupling (the Master) and a Taglia_Cuci (the Slave).
In our application will be the master and slave axis 1 will be the axis 2.
We want to pack a product along 350, we want the cut point corresponds with the point 0 of the slave and overlock them not out of step with the master.
Linear zone for cutting the want equal to 60 degrees with respect to 360 of the entire movement of the overlock around the zone of cut.
Our axis overlock has a diameter calculated by measuring from the tip of the knife at the center of rotation point, and multiplying by 2 equal to 90mm.
Suppose we want to make a motion of 50 degrees of the slave input and output from the cutting area while the package is advanced by 30 mm.
Suppose we want to make a motion of 50 degrees of the slave input and output from the cutting area while the package is advanced by 30 mm.